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Humanoid Elbow Trajectory Tracking Control Based on Fuzzy

Author: WangXiaoBo
Tutor: WangHongBin
School: Yanshan University
Course: Pattern Recognition and Intelligent Systems
Keywords: Anthropomorphic elbow Trajectory Tracking Fuzzy Logic Adaptive control Variable gain control Predictive Control Genetic Algorithms
CLC: TP242
Type: Master's thesis
Year: 2010
Downloads: 50
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Abstract


The humanoid robot is a robot advanced stage of development , its in-depth study has important theoretical and practical significance . Anthropomorphic robotic arm as an important part of the humanoid robot is a hot research topic in this paper, a new linear motor driven anthropomorphic elbow , fuzzy identification modeling and fuzzy - based trajectory tracking control research . First, research the characteristics of anthropomorphic elbow institutions , using advanced fuzzy identification method , establish its fuzzy model simulation study , anthropomorphic elbow ; Second , for the model is unknown and there is no external interference anthropomorphic elbow proposed kinds of fuzzy adaptive control strategy . The control strategy using fuzzy system to estimate the unknown parameters , and on this basis , combining the adaptive control method , derived fuzzy adaptive control law . Adaptive law based on Lyapunov stability , so as to ensure the stability of the closed-loop system . Further design compensation controls to eliminate the estimation error , and to another fuzzy systems derived variable control gain , so that the control strategy to achieve satisfactory control performance . The control strategy for structured uncertainties and unstructured uncertainties have strong robustness ; the anthropomorphic model is unknown and the presence of external interference elbow , fuzzy predictive control strategy using TS fuzzy identification control object fuzzy model , fuzzy model as a predictive model , and then predict control , including the use of genetic algorithms to solve the nonlinear optimization problem , the control strategy to deal with the contradiction between the constraints and control performance . Control strategy for research the anthropomorphic elbow simulation , simulation results demonstrate the effectiveness of the algorithm .

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CLC: > Industrial Technology > Automation technology,computer technology > Automation technology and equipment > Robotics > Robot
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